Aktivni ovjes robotskog sustava za inspekciju građevinskih konstrukcija

master's thesis

• Title (english): Active suspension of robotic system for the inspection of building structures
• Author: Petra Vukas
• Mentor: Stanko Škec (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-05-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

Razvoj robotike doveo je do primjene robota u različitim industrijama, između ostalog i u građevini. ASAP je primjer robota za korištenje u građevini, to je robot penjač razvijen u CRTA-i koji se koristi za ispitivanje vertikalnih betonskih konstrukcija u građevinarstvu. Tijekom korištenja robota uvidjelo se da podloga po kojoj se robot kreće može sadržavati neravnine pa se daje prijedlog kompenzacije neravnina. Cilj ovog rada je razviti aktivni ovjes za robota penjača koji će se koristiti za kompenzaciju neravnina podloge po kojoj se robot giba. U okviru razvoja provedeno je pretraživanje tržišta i patenata, koncipirano je više mogućih rješenja te je razvijeno odabrano rješenje. Na kraju rada je predstavljen plan prve faze testiranja. Razvijeno rješenje koristi aktuacijski motor čiji se okretni moment prenosi na navojno vreteno. Rotacijom navojnog vretena matica se linearno giba, a zbog toga što je s nosačem kotača fiksno povezana posljedično se giba i nosač kotača.

Abstract (english)

The development of robotics has brought robots into various industries, including civil engineering. ASAP is an example of a robot used in civil engineering, it's a climbing robot developed at CRTA, used for assesment and prediction of infrastructure integrity in the construction industry. During previous use of the robot, it was observed that the surface on which the robot moves may contain irregularities, thus a proposal for compensating for these irregularities is suggested. The aim of this work is to develop an active suspension system for the robot-climber to compensate for irregularities on the surface it moves on. Market and patent research was conducted as part of the development process, several potential solutions were conceptualized, and the selected solution was developed. Finally, a plan for the first phase of testing is presented. The developed solution utilizes an actuation motor whose rotational force is transmitted to a screw shaft. By rotating the screw shaft, the nut moves linearly, and since it is fixedly connected to the wheel carrier, it consequently moves as well.

• Keywords: robotika; aktivni ovjes; izrada prototipa; testiranje; ispitivanje građevinskih konstrukcija
• Keywords (english): robotics; active suspension; prototyping; testing; assessment of infrastructure integrity
• Language: croatian
• URN:NBN: urn:nbn:hr:235:063146
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-05-14 19:27:17